version: 66.04
glider: 512
mission: 4
dive: 363
start: 11 28 113 15 51 16
data:
$ID,512
$MISSION,4
$DIVE,363
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$D_ABORT,990
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,670
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,23
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-114477.8
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,30
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004340203
$SEABIRD_T_H,0.00063076179
$SEABIRD_T_I,2.430566e-05
$SEABIRD_T_J,2.6124515e-06
$SEABIRD_C_G,-9.8985863
$SEABIRD_C_H,1.1020875
$SEABIRD_C_I,-0.0015707363
$SEABIRD_C_J,0.00019845086
$GPS1,153723,2303.294,-15802.724,47,1.5,47,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-83.5
$GPS2,155024,2303.287,-15802.660,14,1.7,31,10.1
$SPEED_LIMITS,0.212,0.235
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,-0.189
$KALMAN_X,100917.3,-412.7,-246.3,-104707.0,2724.4
$KALMAN_Y,-56692.8,115.1,642.8,91484.0,-2157.9
$MHEAD_RNG_PITCHd_Wd,133.5,62423,-17.2,-9.009
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-0.54,-126.5,0.0,0.0,0,93,0.00,0.00,-68.55,0.000,2,0.000,0.000,7,2562,2865
$GC,100,-0.54,-126.5,2.1,-1.4,8,128,9.65,1.62,-11.93,0.000,4,0.199,0.039,2521,1437,3374
$GC,202,-0.54,-126.5,25.8,-23.1,22,211,0.00,1.65,0.00,0.000,6,0.000,0.044,2515,2492,3375
$GC,473,-0.54,-126.5,86.7,-19.3,48,476,0.00,1.62,0.00,0.000,4,0.000,0.045,2506,3577,3375
$GC,559,-0.54,-126.5,100.6,-13.6,55,563,0.00,1.50,0.00,0.000,6,0.000,0.020,2507,2519,3375
$GC,830,-0.54,-126.5,146.8,-17.2,80,834,0.00,1.48,0.00,0.000,4,0.000,0.019,2514,1441,3376
$GC,858,-0.54,-126.5,151.3,-16.2,82,862,0.00,1.70,0.00,0.000,6,0.000,0.038,2508,2557,3376
$GC,1129,-0.54,-126.5,191.2,-14.1,107,1133,0.00,1.55,0.00,0.000,4,0.000,0.047,2500,3572,3377
$GC,1282,-0.54,-126.5,213.3,-12.8,114,1286,0.00,1.42,0.00,0.000,6,0.000,0.019,2505,2564,3376
$GC,1561,-0.54,-126.5,247.9,-12.8,121,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2555,3377
$GC,1804,-0.54,-126.5,277.6,-12.0,127,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2555,3376
$GC,2048,-0.54,-126.5,306.0,-11.7,133,2052,0.00,1.52,0.00,0.000,4,0.000,0.021,2513,1455,3375
$GC,2098,-0.54,-126.5,311.8,-10.5,134,2102,0.00,1.67,0.00,0.000,6,0.000,0.039,2506,2570,3375
$GC,2393,-0.54,-126.5,345.9,-11.3,141,2396,0.00,1.52,0.00,0.000,4,0.000,0.048,2499,3565,3373
$GC,2474,-0.54,-126.5,354.8,-10.0,142,2477,0.00,1.40,0.00,0.000,6,0.000,0.021,2504,2573,3372
$GC,2734,-0.54,-126.5,380.0,-9.8,149,2738,0.00,1.55,0.00,0.000,4,0.000,0.023,2512,1457,3371
$GC,2784,-0.54,-126.5,384.6,-8.1,150,2788,0.00,1.70,0.00,0.000,6,0.000,0.041,2506,2565,3370
$GC,3080,-0.54,-126.5,414.1,-10.1,157,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2565,3369
$GC,3323,-0.54,-126.5,438.4,-10.1,163,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2565,3367
$GC,3566,-0.54,-126.5,463.0,-10.2,169,3568,0.00,0.00,-0.08,0.000,6,0.000,0.000,2506,2565,3390
$GC,3810,-0.54,-126.5,488.4,-10.4,175,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2566,3388
$GC,4054,-0.54,-126.5,512.9,-10.0,181,4058,0.00,1.55,0.00,0.000,4,0.000,0.052,2498,3561,3386
$GC,4096,-0.54,-126.5,517.4,-10.1,181,4104,0.00,1.45,0.00,0.000,6,0.000,0.025,2504,2550,3386
$GC,4350,-0.54,-126.5,539.5,-8.6,188,4354,0.00,1.60,0.00,0.000,4,0.000,0.050,2498,3566,3384
$GC,4391,-0.54,-126.5,543.6,-9.7,188,4400,0.00,1.45,0.00,0.000,6,0.000,0.025,2504,2554,3384
$GC,4646,-0.54,-126.5,567.4,-9.7,195,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2554,3382
$GC,4889,-0.54,-126.5,590.9,-9.6,201,4893,0.00,1.55,0.00,0.000,4,0.000,0.026,2512,1463,3380
$GC,4930,-0.54,-126.5,595.1,-9.1,201,4940,0.00,1.70,0.00,0.000,6,0.000,0.045,2506,2556,3380
$GC,5186,-0.54,-126.5,617.9,-9.1,208,5190,0.00,1.58,0.00,0.000,4,0.000,0.054,2498,3559,3379
$GC,5239,-0.54,-126.5,623.4,-9.9,209,5242,0.00,1.45,0.00,0.000,6,0.000,0.027,2503,2568,3378
$GC,5528,-0.54,-126.5,646.7,-7.9,216,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2560,3376
$GC,5771,-0.54,-126.5,666.0,-8.0,222,5775,0.00,1.58,0.00,0.000,4,0.000,0.027,2511,1457,3374
$GC,5825,-0.54,-126.5,670.3,-7.3,223,5828,0.00,1.73,0.00,0.000,6,0.000,0.046,2506,2583,3374
$GC,6114,-0.54,-126.5,693.2,-8.3,230,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2583,3372
$GC,6357,-0.54,-126.5,713.9,-8.5,236,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2583,3372
$GC,6601,-0.54,-126.5,734.2,-8.3,242,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2583,3370
$GC,6845,-0.54,-126.5,753.6,-7.7,248,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2583,3370
$GC,7088,-0.54,-126.5,771.6,-7.5,254,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2583,3368
$GC,7332,-0.54,-126.5,789.4,-7.3,260,7335,0.00,1.55,0.00,0.000,4,0.000,0.058,2498,3559,3367
$GC,7382,-0.54,-126.5,793.2,-7.8,261,7386,0.00,1.45,0.00,0.000,6,0.000,0.029,2503,2581,3366
$GC,7678,-0.54,-126.5,814.6,-7.2,268,7681,0.00,1.60,0.00,0.000,4,0.000,0.029,2508,1443,3365
$GC,7708,-0.54,-126.5,817.3,-7.6,268,7712,0.00,1.75,0.00,0.000,6,0.000,0.048,2503,2554,3365
$GC,7974,-0.54,-126.5,836.6,-7.4,275,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2555,3364
$GC,8218,-0.54,-126.5,854.9,-7.6,281,8222,0.00,1.60,0.00,0.000,4,0.000,0.058,2494,3558,3363
$GC,8242,-0.54,-126.5,857.2,-8.1,281,8246,0.00,1.45,0.00,0.000,6,0.000,0.029,2500,2576,3363
$GC,8514,-0.54,-126.5,878.7,-8.2,288,8518,0.00,1.60,0.00,0.000,4,0.000,0.057,2494,3577,3362
$GC,8568,-0.54,-126.5,883.8,-8.7,289,8571,0.00,1.48,0.00,0.000,6,0.000,0.029,2499,2582,3362
$STATE,8769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8769,begin apogee
$GC,8781,-0.20,0.0,901.3,8.6,294,8899,0.40,0.00,114.65,1.255,6,0.099,0.000,2639,2213,2858
$STATE,8900,end apogee,CONTROL_FINISHED_OK
$STATE,8900,begin climb
$GC,8905,0.54,126.5,906.3,0.0,297,9075,0.62,1.67,131.07,1.148,4,0.038,0.029,2890,1195,2341
$GC,9087,0.54,126.5,894.0,15.5,301,9090,0.00,1.70,0.00,0.000,6,0.000,0.043,2890,2227,2337
$GC,9381,0.54,126.5,842.4,18.2,308,9384,0.00,1.67,0.00,0.000,4,0.000,0.053,2890,3292,2331
$GC,9483,0.54,126.5,822.0,19.4,310,9487,0.00,1.58,0.00,0.000,6,0.000,0.029,2897,2249,2330
$GC,9767,0.54,126.5,769.1,18.7,317,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2242,2329
$GC,10010,0.54,126.5,725.0,17.9,323,10013,0.00,1.65,0.00,0.000,4,0.000,0.051,2892,3290,2327
$GC,10041,0.54,126.5,719.1,18.0,323,10045,0.00,1.58,0.00,0.000,6,0.000,0.029,2897,2241,2327
$GC,10307,0.54,126.5,673.4,17.3,330,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2234,2327
$GC,10551,0.54,126.5,632.5,16.8,336,10554,0.00,1.58,0.00,0.000,4,0.000,0.030,2905,1157,2326
$GC,10581,0.54,126.5,627.0,17.0,336,10584,0.00,1.73,0.00,0.000,6,0.000,0.045,2904,2269,2325
$GC,10847,0.54,126.5,584.5,15.7,343,10851,0.00,1.60,0.00,0.000,4,0.000,0.053,2905,3284,2325
$GC,10897,0.54,126.5,575.9,17.4,344,10901,0.10,1.52,0.00,0.000,6,0.167,0.030,2882,2271,2324
$GC,11191,0.54,126.5,535.5,13.7,351,11195,0.00,1.62,0.00,0.000,4,0.000,0.031,2888,1165,2324
$GC,11220,0.54,126.5,531.0,13.6,351,11224,0.00,1.73,0.00,0.000,6,0.000,0.044,2888,2283,2324
$GC,11488,0.54,126.5,498.1,12.1,358,11492,0.00,1.58,0.00,0.000,4,0.000,0.052,2888,3284,2324
$GC,11557,0.54,126.5,487.6,13.3,359,11561,0.00,1.52,0.00,0.000,6,0.000,0.028,2894,2256,2323
$GC,11829,0.54,126.5,450.5,14.0,366,11832,0.00,1.62,0.00,0.000,4,0.000,0.051,2891,3288,2323
$GC,11898,0.54,126.5,439.1,15.4,367,11902,0.00,1.48,0.00,0.000,6,0.000,0.029,2896,2298,2323
$GC,12170,0.54,126.5,403.0,12.5,374,12174,0.00,1.62,0.00,0.000,4,0.000,0.031,2905,1168,2323
$GC,12206,0.54,126.5,398.3,12.1,374,12209,0.00,1.77,0.00,0.000,6,0.000,0.044,2904,2318,2323
$GC,12466,0.54,126.5,366.8,12.4,381,12469,0.00,1.50,0.00,0.000,4,0.000,0.052,2905,3276,2322
$GC,12496,0.54,126.5,362.5,12.9,381,12500,0.10,1.40,0.00,0.000,6,0.160,0.027,2880,2335,2322
$GC,12763,0.54,126.5,332.5,11.3,388,12766,0.00,1.67,0.00,0.000,4,0.000,0.029,2887,1164,2322
$GC,12815,0.54,126.5,326.6,9.9,389,12818,0.00,1.85,0.00,0.000,6,0.000,0.043,2887,2344,2322
$GC,13103,0.54,126.5,296.3,10.3,396,13107,0.00,1.48,0.00,0.000,4,0.000,0.051,2887,3289,2322
$GC,13173,0.54,126.5,287.2,12.2,397,13177,0.00,1.40,0.00,0.000,6,0.000,0.027,2893,2337,2322
$GC,13445,0.54,126.5,259.4,9.9,404,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2331,2322
$GC,13688,0.54,126.5,236.0,9.6,410,13692,0.00,1.50,0.00,0.000,4,0.000,0.048,2891,3279,2322
$GC,13729,0.54,126.5,231.4,10.6,410,13737,0.00,1.38,0.00,0.000,6,0.000,0.025,2897,2332,2322
$GC,13983,0.54,126.5,205.1,10.8,417,13987,0.00,1.70,0.00,0.000,4,0.000,0.029,2899,1172,2322
$GC,14019,0.54,126.5,201.0,10.4,417,14022,0.00,1.77,0.00,0.000,6,0.000,0.041,2900,2331,2322
$GC,14291,0.54,126.5,173.7,9.3,442,14295,0.00,1.70,0.00,0.000,4,0.000,0.027,2908,1150,2322
$GC,14364,0.56,173.2,168.1,6.8,448,14417,0.00,1.73,40.53,0.703,6,0.000,0.039,2905,2282,2151
$GC,14674,0.56,173.2,137.1,10.5,476,14678,0.00,1.55,0.00,0.000,4,0.000,0.047,2905,3280,2146
$GC,14760,0.56,173.2,127.3,11.5,483,14764,0.00,1.45,0.00,0.000,6,0.000,0.024,2910,2287,2145
$GC,15031,0.56,173.2,97.6,10.1,508,15035,0.00,1.62,0.00,0.000,4,0.000,0.026,2914,1158,2145
$GC,15174,0.58,218.2,85.2,6.8,520,15218,0.00,1.77,38.42,0.637,6,0.000,0.039,2914,2320,1967
$GC,15487,0.58,228.2,58.4,8.5,548,15502,0.00,1.67,9.40,0.558,4,0.000,0.025,2915,1168,1927
$GC,15534,0.59,238.7,53.6,8.5,551,15548,0.00,1.77,10.38,0.556,6,0.000,0.037,2915,2315,1884
$GC,15823,0.59,238.7,21.4,12.3,581,15832,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2314,1882
$STATE,15968,end climb,SURFACE_DEPTH_REACHED
$STATE,15969,begin surface coast
$FINISH,0.4,1.023594
$STATE,16000,end surface coast,CONTROL_FINISHED_OK
$STATE,16000,begin surface
$SM_CCo,16025,62.17,0.544,0,0,1267,390.02
$SM_GC,1.37,0.00,0.00,62.17,0.000,0.000,0.544,30,2539,1267,-8.32,1.10,390.02
$IRIDIUM_FIX,2255.72,-15804.96,220203,111132
$TT8_MAMPS,0.023777
$HUMID,2254
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.90
$XPDR_PINGS,6
$24V_AH,23.1,60.763
$10V_AH,10.6,74.964
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.225,108.925,344.450,62.175,0.000,29.003,43.159,494.165,1.500,0.000,0.000,31.144,1272.822,10833.810,454.733,3091.466,1207.550,33.379,1411.038,0.000,3071.745,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,58.292,1254.812,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,415.356,2002.980,2067.990,1365.789,1309.083,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50976,608
$CAP_FILE_SIZE,125105,0
$CFSIZE,260165632,234000384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,281113,202114,2301.745,-15800.538,41,2.8,60,10.1